CN109767646B - Parking method and device - Google Patents
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- CN109767646B CN109767646B CN201910148767.1A CN201910148767A CN109767646B CN 109767646 B CN109767646 B CN 109767646B CN 201910148767 A CN201910148767 A CN 201910148767A CN 109767646 B CN109767646 B CN 109767646B
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Abstract
The invention provides a parking method, which comprises the following steps: acquiring first image information, and processing to obtain first digital label information; when the serial number of the first digital label is successfully matched with the serial number of the digital label at the entrance of the parking lot in the label map, determining that the first digital label is the digital label at the entrance of the parking lot and marking the first digital label as a parking starting point; receiving the number of the target parking space sent by the server; matching the number of the target parking space with the number of the parking space, and marking the position of the target parking space in the label map as a parking terminal point when the matching is successful; according to the parking starting point, the parking end point and the label map, path planning is carried out, and first path information is generated; when a digital label corresponding to the last number in the number sequence of the digital label of the vehicle is detected, searching the digital label of the target parking space; and parking according to a preset parking mode, and sending a parking completion message to the server. Therefore, the parking time is saved, and the calculation amount is reduced.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a parking method and a parking device.
Background
In recent years, the problem of difficulty in parking is increasingly obvious, on one hand, the number of automobiles is continuously increased, and on the other hand, the number of parking spaces in a parking lot is limited, so that a driver needs to spend a large amount of time for searching for free parking spaces in the parking lot, and therefore vehicle congestion and scratch accidents caused by the fact are frequent. Therefore, a fully automated parking system is needed to solve such problems.
The full-automatic parking system mainly depends on a sensor carried by a vehicle, applies a multi-sensor fusion algorithm to detect information such as environments, road signs, signal lines and the like of a parking lot and parking places in real time, automatically plans a path, and completes the processes of parking place detection and parking in place by controlling an accelerator, a brake and a steering system of the vehicle. Currently, automatic parking solutions include the following two:
the first is an auxiliary parking scheme, a driver needs to manually drive a vehicle to search a parking space in a parking lot, an automatic parking program is started after the vehicle finds the parking space, the vehicle detects parking space boundary line information and vehicle distances on two sides of the parking space through sensors such as a camera and an ultrasonic radar, and the vehicle is parked in the parking space through planning a parking route;
the second method is that a driver needs to drive a vehicle to an entrance of a parking lot manually firstly, then the vehicle automatically drives forwards, whether vacant parking spaces meeting requirements exist on two sides or not is calculated and judged by means of a lateral ultrasonic radar of the vehicle and the time length of the edge of a detection signal, if the vacant parking spaces exist on the two sides, the vehicle parks in the position, and an automatic parking program is called to complete a parking process.
The two parking solutions, although simple in principle, do not solve the aforementioned problems very well.
The first scheme still requires a driver to spend a lot of time manually driving the vehicle to search for the parking space, and automation of the whole process cannot be realized; although the second scheme does not need to manually search the parking spaces, the vehicle still needs to traverse one by one from the starting end to detect whether the parking spaces meet the parking condition, and the process also needs to consume a lot of time. In addition, the two methods both need a vehicle to be provided with a plurality of sensors, and detect the environmental information of the parking lot in real time, so that the calculation amount is huge, the manufacturing cost is high, and the cost is high.
Disclosure of Invention
The embodiment of the invention aims to provide a parking method to solve the problems in the prior art.
In order to solve the above problem, the present invention provides a parking method including:
acquiring first image information;
processing the first image information to obtain first digital label information; the first digital label information comprises a number of a first digital label;
matching the serial number of the first digital label with a preset label map, determining that the first digital label is the digital label of the entrance of the parking lot when the serial number of the first digital label is successfully matched with the serial number of the digital label of the entrance of the parking lot in the label map, and marking the position of the first digital label as a parking starting point in the label map; the label map comprises digital labels and serial numbers of entrances of the parking lot, digital labels and serial numbers of passable road surfaces in the parking lot, digital labels and serial numbers of parking spaces, serial numbers of the passable road surfaces and distances between adjacent serial numbers in the serial numbers of the parking spaces;
when the first digital label is determined to be the digital label of the entrance of the parking lot, sending an indication message that the vehicle has reached a starting point to the user terminal, so that the user terminal sends an automatic parking request message to the server after receiving the indication message; the indication message includes a number of the parking lot entrance; the automatic parking request message includes a number of a parking lot entrance;
receiving the number of the target parking space sent by the server; the server distributes the number of the target parking space according to the parking request message;
matching the number of the target parking space with the number of the parking space, and marking the position of the target parking space in the label map as a parking terminal point when the matching is successful;
according to the parking starting point, the parking end point and the label map, path planning is carried out, and first path information is generated; the first path information comprises a number sequence of digital labels passed by vehicles and action attributes of numbers in the number sequence;
driving according to the serial number sequence in sequence, and when the current serial number is driven, driving to the next serial number according to the action attribute of the current serial number;
when the digital label corresponding to the last number in the number sequence of the digital label passed by the vehicle is detected, searching the digital label of the target parking space;
and parking according to a preset parking mode, and sending a parking completion message to the server.
In one possible implementation, when the vehicle travels according to the first path information, the method further includes:
acquiring second image information;
processing the second image information to obtain at least one digital label;
and searching the number sequence of the digital label according to the digital label, and determining the position of the vehicle in the label map.
In one possible implementation, when the vehicle travels according to the first path information, the method further includes:
acquiring obstacle information;
generating a braking signal according to the obstacle information, and controlling the vehicle to stop running according to the braking signal;
starting timing after the vehicle stops running;
when the timing time length exceeds the preset waiting time length, planning a path according to the position of the vehicle in the label map and the parking terminal;
when the path planning is successful, generating second path information;
and driving according to the second path information.
In one possible implementation, the method further includes:
when the path planning is unsuccessful, sending a parking space replacing request message to a server so that the server reallocates a parking space according to the parking space replacing request message; the parking place replacement request message comprises the position of the vehicle in the label map.
In one possible implementation, the method further includes, after the step of:
the method comprises the steps that a server receives a vehicle taking and garage discharging request message sent by a user terminal, wherein the vehicle taking and garage discharging request message comprises the number of a digital label at an entrance of a parking lot;
the server matches the serial number of the digital label at the entrance of the parking lot with a preset label map to determine the serial number of a second digital label; the second digital label is a digital label of the exit of the parking lot;
and the vehicle receives the serial number of the second label sent by the server, marks the position of the second digital label as a garage-out terminal in the label map, marks the serial number of the target parking space as a garage-out starting point, generates third path information according to the garage-out starting point, the garage-out terminal and the label map, and garages according to the third path information.
In a second aspect, the present invention provides a parking apparatus comprising:
an acquisition module for acquiring first image information;
the processing module is used for processing the first image information to obtain first digital label information; the first digital label information comprises a number of a first digital label;
the matching module is used for matching the serial number of the first digital label with a preset label map, when the serial number of the first digital label is successfully matched with the serial number of the digital label at the entrance of the parking lot in the label map, the first digital label is determined to be the digital label at the entrance of the parking lot, and the position of the first digital label is marked as a parking starting point in the label map; the label map comprises digital labels and serial numbers of entrances of the parking lot, digital labels and serial numbers of passable road surfaces in the parking lot, digital labels and serial numbers of parking spaces, serial numbers of the passable road surfaces and distances between adjacent serial numbers in the serial numbers of the parking spaces;
the sending module is used for sending an indication message that the vehicle reaches a starting point to the user terminal after the first digital tag is determined to be the digital tag of the entrance of the parking lot, so that the user terminal sends an automatic parking request message to the server after receiving the indication message; the indication message includes a number of the parking lot entrance; the automatic parking request message includes a number of a parking lot entrance;
the receiving module is used for receiving the serial number of the target parking space sent by the server; the server distributes the number of the target parking space according to the parking request message;
the matching module is further used for matching the number of the target parking space with the number of the parking space, and marking the position of the target parking space in the label map as a parking terminal point when the matching is successful;
the path planning module is used for planning a path according to the parking starting point, the parking end point and the label map to generate first path information; the first path information comprises a number sequence of digital labels passed by vehicles and action attributes of numbers in the number sequence;
the control module is used for driving in sequence according to the numbering sequence and driving to the next number according to the action attribute of the current number when the current number is driven;
the searching module is used for searching the digital label of the target parking space when detecting the digital label corresponding to the last serial number in the serial number sequence of the digital label of the vehicle;
the parking module is used for parking according to a preset parking mode;
the sending module is further used for sending a parking completion message to the server.
In a third aspect, the invention provides an apparatus comprising a memory for storing a program and a processor for performing the method of any of the first aspects.
In a fourth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to any one of the first aspect.
In a fifth aspect, the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of the first aspects.
By applying the parking method and the parking device provided by the invention, the target parking space is obtained through the digital label, then the path information is generated for parking, and the vehicle can be positioned through the digital label. Therefore, the parking time is saved, and the calculation amount is reduced.
Drawings
Fig. 1 is a schematic flow chart of a parking method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a digital label according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a parking apparatus according to a second embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart illustrating a parking method according to an embodiment of the present invention, where the parking method is applied to a vehicle with an automatic driving function, and an application scenario of the method is a scenario where the automatic driving vehicle parks in a parking lot. The automatic driving vehicle comprises a visual perception unit, a decision planning unit, a control unit and an execution unit. The visual perception Unit includes a camera, the decision planning Unit may perform path planning, the Control Unit may be an Automated Vehicle Control Unit (AVCU), which may determine a next action of the Vehicle during a driving process according to a path planned by the decision planning Unit, and the execution Unit may execute an action instruction input by the Control Unit. As shown in fig. 1, the execution subject of the method is a vehicle control unit, and the parking method includes:
102, processing the first image information to obtain first digital label information; the first digital label information includes a number of the first digital label.
Specifically, when the vehicle is in a driving process, the camera in the visual perception unit may acquire first image information, and after the vehicle control unit acquires the first image information acquired by the visual perception unit, the vehicle control unit processes the first image information to extract digital tag information therein, where the digital tag information may include content of a digital tag and a number of the digital tag, and of course, in some examples, the content of the digital tag may be visually reflected, as shown in fig. 2, the digital tag may be 1, 2, 3, 4, 5, s1, s2, and the like, and its number may also be regarded as 1, 2, 3, 4, 5, s1, s2, and the like, and its content may be regarded as the same as the number, that is, the content of number 1 is 1. In other examples, the content and the number of the barcode may be obtained through further analysis, for example, when the digital tag is in the form of a two-dimensional code or a barcode, the content and the number of the two-dimensional code or the barcode are obtained through analyzing the two-dimensional code or the barcode. When the digital label information is extracted, it may be referred to as first digital label information.
103, matching the serial number of the first digital label with a preset label map, determining that the first digital label is the digital label of the entrance of the parking lot when the serial number of the first digital label is successfully matched with the serial number of the entrance of the parking lot in the label map, and marking the position of the first digital label as a parking starting point in the label map; the label map comprises digital labels and serial numbers of entrances of the parking lot, digital labels and serial numbers of passable road surfaces in the parking lot, digital labels and serial numbers of parking spaces, serial numbers of passable road surfaces and distances between adjacent serial numbers in the serial numbers of the parking spaces.
Specifically, the tag map of each parking lot may be uploaded to a server of the autonomous vehicle, and the server may distribute the tag map to the autonomous vehicle after receiving registration information of the autonomous vehicle, whereby the autonomous vehicle may load a plurality of tag maps after registration. Or after the digital label information is extracted, the vehicle sends a request message for matching the digital label to the server, and when the digital label exists in the server, the label map of the parking lot where the digital label is located is called from the server.
The label map will be explained below.
As shown in fig. 2, digital tags may be provided at the entrance of the parking lot, the passable road, the parking space, and the exit of the parking lot according to the road layout information in the parking lot. By way of example and not limitation, the content of the digital label may be unique starting with sequence number 1. After the digital tags are set, based on the integral plane map of the parking lot, marking the positions and the numbers of all the digital tags, the distance information between every two adjacent digital tags and the like, and generating the tag map of the parking lot. Subsequently, the tag map will be sent to the autonomous vehicle to facilitate the vehicle to automatically plan a travel path.
And 104, after the first digital label is determined to be the digital label of the entrance of the parking lot, sending an indication message that the vehicle has reached the starting point to the user terminal, so that the user terminal sends an automatic parking request message to the server after receiving the indication message. Specifically, after determining that the first digital tag is a digital tag of a parking lot entrance, the vehicle control unit determines that the vehicle has reached the start point, and at this time, the vehicle control unit may send an indication message to the terminal through a fourth Generation communication technology (4G) network, a 5G network, a WIreless-Fidelity (Wi-Fi), bluetooth, or other communication methods to indicate that the vehicle has currently reached the start point, where the indication message may include a number of the parking lot entrance.
After receiving the indication message, the user terminal receives a click instruction or a touch instruction of the user, for example, the user terminal receives a click instruction or a touch instruction of the user by clicking or touching the "automatic parking mode" icon, generates an automatic parking request message, where the automatic parking request message may include a number of a parking lot and/or a user ID, and then sends the automatic parking request message to the server. The server may be a parking space management server of a parking lot, and the server may include parking space usage information of all parking lots having the tag map.
The user terminal according to the embodiment of the present invention may include a mobile phone, a tablet computer, a Personal Digital Assistant (PDA), a vehicle-mounted computer, and the like.
105, receiving the number of the target parking space sent by the server; and the number of the target parking space is distributed by the server according to the parking request message.
Specifically, after receiving the automatic parking request message, the server queries the use status of the parking space in the parking lot according to the number of the entrance of the parking lot, for example, the use status of the parking space may be determined by retrieving status flag bits of all parking spaces in the database. If the parking space is occupied, the state value of the parking space in the database is 1, and if the parking space is free, the state value of the parking space is 0.
In one example, when the auto parking request message includes only the number of the parking lot entry, the server may perform a search in the database according to the number of the parking lot entry, determine the corresponding parking lot, randomly select one parking space from the free parking spaces of the parking lot, determine that the selected parking space is the target parking space, and send the number of the target parking space to the vehicle control unit. Therefore, the target parking space can be quickly matched for the vehicle.
Or the server can also determine the target parking space from the free parking spaces according to the distance priority principle. Thus, although the time to determine the target space is increased compared to the random determination, the vehicle can travel to the target space in a relatively short time. Meanwhile, the server transmits a message for instructing to start automatic parking to the user terminal to indicate that the driver can deliver the vehicle and leave the parking lot. If no free parking space exists, the server sends a message for indicating that the parking space is full to the client to indicate that the driver exits the automatic parking and searches other parking lots.
In another example, the automatic parking request message sent by the terminal to the server includes a user Identifier (ID), and the server searches a preset ID-parking space number table according to the user ID to determine whether the user is a fixed parking space user, and if the user ID exists in the ID-parking space number table, it indicates that the user belongs to the fixed parking space user, and directly sends a parking space number corresponding to the user, that is, a number of a target parking space, to the vehicle control unit. If the user ID does not exist in the ID-parking space number table, the user belongs to a temporary parking user, an idle parking space can be randomly allocated to the temporary parking user, and the idle parking space is a target parking space. Therefore, the target parking space of the user with the fixed parking space can be rapidly determined, the parking space is randomly distributed for the temporary parking user, and effective use of the parking space is guaranteed.
In another example, the automatic parking request message sent by the terminal to the server includes a user ID and a license plate number, the server searches a preset ID-license plate number-parking space number table according to the user ID and the license plate number, if the user ID and the license plate number exist in the ID-license plate number-parking space number table and the user ID is consistent with the license plate number, it indicates that the user belongs to a user with a fixed parking space, and directly sends the parking space number corresponding to the user, that is, the number of the target parking space to the vehicle control unit. If the user ID does not exist in the ID-license plate number-parking space number list or the user ID is inconsistent with the license plate number, the user does not belong to the user with the fixed parking space, the user with the fixed parking space can be randomly allocated with the free parking space, and the randomly allocated free parking space is determined to be the target parking space. Therefore, vehicles with consistent user IDs and license plate numbers can be parked to effective parking spaces, and the parking spaces are guaranteed to be correctly and effectively used.
Therefore, the target parking spaces are distributed through the server, and the time for searching the parking spaces is saved.
And 106, matching the number of the target parking space with the number of the parking space, and marking the position of the target parking space in the label map as a parking destination when the matching is successful.
Specifically, the vehicle control unit matches the number of the target parking space with the number of the parking space in the tag map, and when the matching is successful, the position of the target parking space in the tag map can be determined, and the position can be determined as the parking destination.
And 108, the vehicles run in sequence according to the numbering sequence, and when the vehicles run to the current number, the vehicles run to the next number according to the action attribute of the current number.
Specifically, in a label map of a parking lot, the distribution of each digital label and the distance between adjacent digital labels are known, a Dijkstra algorithm (Dijkstra) single-source shortest path algorithm is adopted, a parking starting point is marked as a starting point, a parking ending point is marked as a target point, all other digital labels are used as accessible nodes, all the accessible digital label nodes are traversed in an iterative manner, and finally a shortest path from the starting point to the ending point is generated in the label map, wherein the shortest path comprises a serial number sequence of all digital labels to be passed through. Then, a global rectangular coordinate system is established by taking the parking lot label map as a basis, the numbers of all the digital labels passed by the vehicle form a number sequence by combining the relative positions of the digital labels in the label map, and the number in each number sequence comprises the action attribute of driving to the next number. The action attributes, i.e., forward, backward, left turn, and right turn, thereby generating final first path information.
And step 109, searching the digital label of the target parking space when the digital label corresponding to the last number in the number sequence of the digital label of the vehicle is detected.
Specifically, when the vehicle runs according to the first path information, the vehicle can run at a constant speed, and in the running process of the vehicle, the visual perception unit detects the digital label of the passable road surface in real time and analyzes the detected digital label to obtain the current position of the vehicle in the label map.
Specifically, if the vehicle acquires that the positions of two adjacent digital tags 1 and 2, 1 and 2 in the tag map are known, the vehicle control unit may calculate the distances between the vehicle and the digital tags 1 and 2 respectively through perception data acquired by a visual perception unit on the vehicle, such as data obtained by an ultrasonic radar, and thus, the positions of the vehicle in the tag map may be obtained.
The vehicle control unit judges the next action of the vehicle according to the current position of the vehicle output by the visual perception unit, the first path information output by the decision planning unit and the current state information of the vehicle, wherein the next action can be any one of forward movement, reverse movement, left turning and right turning. The control unit transmits the next action to the execution unit, and the execution unit executes operations such as accelerator, braking, steering and the like.
And step 110, parking according to a preset parking mode, and sending a parking completion message to the server.
Specifically, the vehicle may calculate the position of the target parking space according to the digital tag of the target parking space and the size of the target parking space sensed by the visual sensing unit (which may be calculated according to the parking space marker line), and park in the parking space according to a preset parking mode (in which an optimal parking position, a parking route, and the like of a parking garage are set).
After completing parking, the control unit of the vehicle may send a parking completion message to the server, where the parking completion message includes the number of the target parking space, and thus, the server may update the parking space status in the database according to the number of the target parking space, and mark the status of the target parking space as "1". So as to provide accurate parking space information for subsequent vehicles.
Further, after step 108, the method further comprises:
acquiring second image information;
processing the second image information to obtain at least one digital label;
and searching the number sequence of the digital tags according to the digital tags, and determining the position of the vehicle in the tag map.
Therefore, the vehicle can be positioned by the digital tag during running.
Further, step 108 is followed by:
acquiring obstacle information;
generating a braking signal according to the obstacle information, and controlling the vehicle to stop running according to the braking signal;
starting timing after the vehicle stops running;
when the timing time exceeds a preset waiting time threshold, planning a path according to the position of the vehicle in the label map and the parking terminal;
when the path planning is successful, generating second path information;
and driving according to the second path information.
When the path planning is unsuccessful, sending a parking space replacing request message to the server so that the server reallocates the parking space according to the parking space replacing request message; the change slot request message includes the location of the vehicle in the tag map.
Specifically, in the running process of the vehicle, the visual perception unit can acquire information in front of and around the vehicle, if the vehicle control unit analyzes obstacle information in the information and the obstacle information influences vehicle passing, the vehicle control unit can generate a braking signal and send the braking signal to the execution unit so as to control the speed of the vehicle to be 0, and meanwhile, the vehicle control unit can be provided with a counter which can count the waiting time. When the waiting time exceeds the waiting time threshold, the vehicle control unit can re-plan a path according to the current position of the vehicle and the position of the target parking space, when the path planning between the current position of the vehicle and the position of the target parking space is successful, the vehicle control unit drives according to the planned path, when no other path exists between the current position of the vehicle and the position of the target parking space, the vehicle control unit interacts with the server through the server to re-acquire an idle parking space which can be reached by the current position, and the path is re-planned between the current position and the idle parking space. Therefore, obstacle avoidance processing in the parking process is achieved.
Further, after step 110, the method further includes:
the server receives a vehicle taking and delivery request message sent by the user terminal, wherein the vehicle taking and delivery request message comprises the number of the digital label at the entrance of the parking lot;
the server matches the serial number of the digital label at the entrance of the parking lot with a preset label map to determine the serial number of a second digital label; the second digital label is a digital label of the exit of the parking lot;
and the vehicle receives the serial number of the second label sent by the server, marks the position of the second digital label as a garage-out terminal in a label map, marks the serial number of the target parking space as a garage-out starting point, generates third path information according to the garage-out starting point, the garage-out terminal and the label map, and garages according to the third path information.
The generation manner of the third path information is the same as the generation manner of the first path information, and is not described herein again.
By applying the parking method provided by the embodiment of the invention, the digital label is obtained through the image information, so that whether the parking lot is located or not is judged, the path information is generated through the target parking space distributed by the server, the parking is carried out, and the vehicle can be positioned through the digital label. Therefore, parking can be performed only by depending on image information, the cost of the sensor is reduced, and the calculation amount is reduced because fusion of various information is not needed. The parking spaces are distributed through the server, so that the parking spaces do not need to be searched in a traversing mode, and the parking time is reduced.
Fig. 3 is a schematic structural diagram of a parking apparatus according to a second embodiment of the present invention, and as shown in fig. 3, the parking apparatus includes: an acquisition module 301, a processing module 302, a matching module 303, a transmitting module 304, a receiving module 305, a path planning module 306, a control module 307, a search module 308, and a parking module 309.
The obtaining module 301 is configured to obtain first image information;
the processing module 302 is configured to process the first image information to obtain first digital tag information; the first digital label information comprises the number of the first digital label;
the matching module 303 is configured to match the number of the first digital tag with a preset tag map, determine that the first digital tag is a digital tag at an entrance of a parking lot when the number of the first digital tag is successfully matched with the number of the digital tag at the entrance of the parking lot in the tag map, and mark the position of the first digital tag as a parking starting point in the tag map; the label map comprises digital labels and serial numbers of entrances of the parking lot, digital labels and serial numbers of passable road surfaces in the parking lot, digital labels and serial numbers of parking spaces, serial numbers of passable road surfaces and distances between adjacent serial numbers in the serial numbers of the parking spaces;
the sending module 304 is configured to send an indication message that the vehicle has reached the starting point to the user terminal after determining that the first digital tag is the digital tag of the entrance of the parking lot, so that the user terminal sends an automatic parking request message to the server after receiving the indication message; the indication message includes a number of the parking lot entrance; the automatic parking request message includes a number of the parking lot entrance;
the receiving module 305 is configured to receive the number of the target parking space sent by the server; the number of the target parking space is distributed by the server according to the parking request message;
the matching module 303 is further configured to match the number of the target parking space with the number of the parking space, and mark the position of the target parking space in the tag map as a parking destination when the matching is successful;
the path planning module 306 is configured to perform path planning according to the parking start point, the parking end point and the tag map to generate first path information; the first path information comprises a number sequence of digital labels passed by the vehicles and action attributes of each number in the number sequence;
the control module 307 is configured to sequentially run according to the numbering sequence, and when the current number is reached, run to the next number according to the action attribute of the current number;
the searching module 308 is configured to search the digital tag of the target parking space when detecting the digital tag corresponding to the last serial number in the serial number sequence of the digital tags passed by the vehicle;
the parking module 309 is configured to park according to a preset parking mode;
the sending module 304 is further configured to send a parking completion message to the server.
Further, the obtaining module 301 is further configured to obtain second image information;
the processing module 302 is further configured to process the second image information to obtain at least one digital tag therein;
the processing module 302 is further configured to find the number sequence of the digital tags according to the digital tags, and determine the location of the vehicle in the tag map.
Further, the obtaining module 301 is further configured to obtain obstacle information;
the control module 307 is further configured to generate a braking signal according to the obstacle information, and control the vehicle to stop running according to the braking signal;
the control module 307 is further configured to start timing after the vehicle stops running;
the path planning module 306 is further configured to plan a path according to the position of the vehicle in the tag map and the parking destination when the timing duration exceeds a preset waiting duration;
the processing module 302 is further configured to generate second path information when the path planning is successful;
the control module 307 is further configured to travel according to the second path information.
Further, the sending module 304 is further configured to send a parking space replacement request message to the server when the path planning is unsuccessful, so that the server reallocates a parking space according to the parking space replacement request message; the change slot request message includes the location of the vehicle in the tag map.
By applying the parking device provided by the second embodiment of the invention, the digital label is obtained through the image information, so that whether the parking lot is located or not is judged, the path information is generated through the target parking space distributed by the server, the parking is carried out, and the vehicle positioning can be carried out through the digital label. Therefore, parking can be performed only by depending on image information, the cost of the sensor is reduced, and the calculation amount is reduced because fusion of various information is not needed. The parking spaces are distributed through the server, so that the parking spaces do not need to be searched in a traversing mode, and the parking time is reduced.
The third embodiment of the invention provides equipment, which comprises a memory and a processor, wherein the memory is used for storing programs, and the memory can be connected with the processor through a bus. The memory may be a non-volatile memory such as a hard disk drive and a flash memory, in which a software program and a device driver are stored. The software program is capable of performing various functions of the above-described methods provided by embodiments of the present invention; the device drivers may be network and interface drivers. The processor is used for executing a software program, and the software program can realize the method provided by the embodiment of the invention when being executed.
A fourth embodiment of the present invention provides a computer program product including instructions, which, when the computer program product runs on a computer, causes the computer to execute the method provided in the first embodiment of the present invention.
The fifth embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method provided in the first embodiment of the present invention is implemented.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A method of parking a vehicle, comprising:
acquiring first image information;
processing the first image information to obtain first digital label information; the first digital label information comprises a number of a first digital label;
matching the serial number of the first digital label with a preset label map, determining that the first digital label is the digital label of the entrance of the parking lot when the serial number of the first digital label is successfully matched with the serial number of the digital label of the entrance of the parking lot in the label map, and marking the position of the first digital label as a parking starting point in the label map; the label map comprises digital labels and serial numbers of entrances of the parking lot, digital labels and serial numbers of passable road surfaces in the parking lot, digital labels and serial numbers of parking spaces, serial numbers of the passable road surfaces and distances between adjacent serial numbers in the serial numbers of the parking spaces;
when the first digital label is determined to be the digital label of the entrance of the parking lot, sending an indication message that the vehicle has reached a starting point to the user terminal, so that the user terminal sends an automatic parking request message to the server after receiving the indication message; the indication message includes a number of the parking lot entrance; the automatic parking request message includes a number of a parking lot entrance;
receiving the number of the target parking space sent by the server; the server distributes the number of the target parking space according to the parking request message;
matching the number of the target parking space with the number of the parking space, and marking the position of the target parking space in the label map as a parking terminal point when the matching is successful;
according to the parking starting point, the parking end point and the label map, path planning is carried out, and first path information is generated; the first path information comprises a number sequence of digital labels passed by vehicles and action attributes of numbers in the number sequence; establishing a global rectangular coordinate system by taking a parking lot label map as a basis, and forming a numbering sequence by the numbers of all digital labels through which a vehicle passes by combining the relative positions of the digital labels in the label map;
driving according to the serial number sequence in sequence, and when the current serial number is driven, driving to the next serial number according to the action attribute of the current serial number;
when the digital label corresponding to the last number in the number sequence of the digital label passed by the vehicle is detected, searching the digital label of the target parking space;
and parking according to a preset parking mode, and sending a parking completion message to the server.
2. The method according to claim 1, wherein when the vehicle travels according to the first path information, the method further comprises:
acquiring second image information;
processing the second image information to obtain at least one digital label;
and searching the number sequence of the digital label according to the digital label, and determining the position of the vehicle in the label map.
3. The method according to claim 1, wherein when the vehicle travels according to the first path information, the method further comprises:
acquiring obstacle information;
generating a braking signal according to the obstacle information, and controlling the vehicle to stop running according to the braking signal;
starting timing after the vehicle stops running;
when the timing time length exceeds the preset waiting time length, planning a path according to the position of the vehicle in the label map and the parking terminal;
when the path planning is successful, generating second path information;
and driving according to the second path information.
4. The method of claim 3, further comprising:
when the path planning is unsuccessful, sending a parking space replacing request message to a server so that the server reallocates a parking space according to the parking space replacing request message; the parking place replacement request message comprises the position of the vehicle in the label map.
5. The method of claim 1, further comprising, after the method:
the method comprises the steps that a server receives a vehicle taking and garage discharging request message sent by a user terminal, wherein the vehicle taking and garage discharging request message comprises the number of a digital label at an entrance of a parking lot;
the server matches the serial number of the digital label at the entrance of the parking lot with a preset label map to determine the serial number of a second digital label; the second digital label is a digital label of the exit of the parking lot;
and the vehicle receives the serial number of the second label sent by the server, marks the position of the second digital label as a delivery destination in the label map, marks the serial number of the target parking space as a delivery starting point, generates third path information according to the delivery starting point, the delivery destination and the label map, and delivers according to the third path information.
6. A parking apparatus, characterized by comprising:
an acquisition module for acquiring first image information;
the processing module is used for processing the first image information to obtain first digital label information; the first digital label information comprises a number of a first digital label;
the matching module is used for matching the serial number of the first digital label with a preset label map, when the serial number of the first digital label is successfully matched with the serial number of the digital label at the entrance of the parking lot in the label map, the first digital label is determined to be the digital label at the entrance of the parking lot, and the position of the first digital label is marked as a parking starting point in the label map; the label map comprises digital labels and serial numbers of entrances of the parking lot, digital labels and serial numbers of passable road surfaces in the parking lot, digital labels and serial numbers of parking spaces, serial numbers of the passable road surfaces and distances between adjacent serial numbers in the serial numbers of the parking spaces;
the sending module is used for sending an indication message that the vehicle reaches a starting point to the user terminal after the first digital tag is determined to be the digital tag of the entrance of the parking lot, so that the user terminal sends an automatic parking request message to the server after receiving the indication message; the indication message includes a number of the parking lot entrance; the automatic parking request message includes a number of a parking lot entrance;
the receiving module is used for receiving the serial number of the target parking space sent by the server; the server distributes the number of the target parking space according to the parking request message;
the matching module is further used for matching the number of the target parking space with the number of the parking space, and marking the position of the target parking space in the label map as a parking terminal point when the matching is successful;
the path planning module is used for planning a path according to the parking starting point, the parking end point and the label map to generate first path information; the first path information comprises a number sequence of digital labels passed by vehicles and action attributes of numbers in the number sequence; establishing a global rectangular coordinate system by taking a parking lot label map as a basis, and forming a numbering sequence by the numbers of all digital labels through which a vehicle passes by combining the relative positions of the digital labels in the label map;
the control module is used for driving in sequence according to the numbering sequence and driving to the next number according to the action attribute of the current number when the current number is driven;
the searching module is used for searching the digital label of the target parking space when detecting the digital label corresponding to the last serial number in the serial number sequence of the digital label of the vehicle;
the parking module is used for parking according to a preset parking mode;
the sending module is further used for sending a parking completion message to the server.
7. A parking apparatus comprising a memory for storing a program and a processor for performing the method according to any one of claims 1-5.
8. A computer program product comprising instructions for causing a computer to perform the method according to any one of claims 1 to 5 when the computer program product is run on the computer.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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| CN201910148767.1A CN109767646B (en) | 2019-02-28 | 2019-02-28 | Parking method and device |
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| CN201910148767.1A CN109767646B (en) | 2019-02-28 | 2019-02-28 | Parking method and device |
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